{"id":7962,"date":"2025-04-23T22:31:18","date_gmt":"2025-04-23T13:31:18","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=7962"},"modified":"2025-04-23T22:31:21","modified_gmt":"2025-04-23T13:31:21","slug":"reference-input-with-full-state-feedback","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/reference-input-with-full-state-feedback\/","title":{"rendered":"Reference Input with Full-State Feedback"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">Tracking System &lt;&#8212;> Regulator System<\/h3>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-94916443-40d1-4d39-b82f-127821148041\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\">NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-94916443-40d1-4d39-b82f-127821148041\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1693\" height=\"571\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19.png\" alt=\"\" class=\"wp-image-7965\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19.png 1693w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-768x259.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-1536x518.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-1568x529.png 1568w\" sizes=\"auto, (max-width: 1693px) 100vw, 1693px\" \/><\/figure>\n\n\n\n<p>State space\uc5d0\uc11c <strong>steady-state error<\/strong>\uac00 0\uc774 \ub418\uc9c0 \uc54a\ub294 \uc774\uc720\ub294 \uc2dc\uc2a4\ud15c\uc758 \uad6c\uc870\uc801 \ud2b9\uc131\uacfc \uc81c\uc5b4 \uc124\uacc4 \ubc29\uc2dd\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. \uc544\ub798\uc5d0 \uc790\uc138\ud788 \uc124\uba85\ub4dc\ub9b4\uac8c\uc694:<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>Control \ubc29\uc2dd\uc758 \ud55c\uacc4<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc8fc\uc5b4\uc9c4 \uc81c\uc5b4 \ubc95\uce59 \\( u = -Kx + r \\)\ub294 \uc0c1\ud0dc \\( x \\)\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud53c\ub4dc\ubc31 \uc81c\uc5b4\ub97c \uc218\ud589\ud558\uc9c0\ub9cc, **\ucc38\uc870 \uc785\ub825 \\( r \\)**\uc640\uc758 \uc9c1\uc811\uc801\uc778 \uad00\uacc4\ub97c \uc801\uc808\ud788 \uace0\ub824\ud558\uc9c0 \uc54a\uc744 \uacbd\uc6b0, steady-state error\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\ud2b9\ud788, \ucc38\uc870 \uc785\ub825\uc774 <strong>step input<\/strong>(\uacc4\ub2e8 \uc785\ub825)\uc77c \ub54c, \uc2dc\uc2a4\ud15c\uc758 \ud53c\ub4dc\ubc31 \ub8e8\ud504\uac00 \uc815\ud655\ud788 \uc774\ub97c \ucd94\uc801\ud558\uc9c0 \ubabb\ud560 \uac00\ub2a5\uc131\uc774 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\uadf9 \ubc30\uce58(Pole Placement) \uc81c\uc5b4\uc758 \ud2b9\uc131<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uadf9 \ubc30\uce58 \uc81c\uc5b4 \uc124\uacc4\ub294 \uc2dc\uc2a4\ud15c\uc758 **\ub3d9\uc801 \uc751\ub2f5(transient response)**\ub97c \uac1c\uc120\ud558\ub294 \ub370 \uc911\uc810\uc744 \ub461\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\ud558\uc9c0\ub9cc steady-state error\ub97c \uc790\ub3d9\uc73c\ub85c \uc81c\uac70\ud558\ub294 \uae30\ub2a5\uc740 \ud3ec\ud568\ub418\uc9c0 \uc54a\uc744 \uc218 \uc788\uc73c\uba70, \uc774\ub97c \ucd94\uac00\uc801\uc73c\ub85c \ubcf4\uc644\ud574\uc57c \ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3. <strong>\ucc38\uc870 \uc785\ub825\uacfc \uc2dc\uc2a4\ud15c \ubaa8\ub378\uc758 \ubd88\uc77c\uce58<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc2dc\uc2a4\ud15c\uc5d0\uc11c steady-state error\ub97c \uc5c6\uc560\uae30 \uc704\ud574\uc11c\ub294 \uc785\ub825 \uc2e0\ud638 \\( r \\)\uc640 \uc2dc\uc2a4\ud15c \ucd9c\ub825 \\( y \\) \uac04\uc758 \ucc28\uc774\ub97c \uc904\uc5ec\uc57c \ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc2dc\uc2a4\ud15c\uc758 \uc804\ub2ec \ud568\uc218 \ud2b9\uc131\uc774 \uc785\ub825 \\( r \\)\ub97c \uc644\ubcbd\ud788 \ucd94\uc801\ud560 \uc218 \uc5c6\uc73c\uba74 error\uac00 \ub0a8\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">4. <strong>Integral Control (\uc801\ubd84 \uc81c\uc5b4) \ubd80\uc871<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>steady-state error\ub97c \uc81c\uac70\ud558\uae30 \uc704\ud574 \uc81c\uc5b4 \uc2dc\uc2a4\ud15c\uc5d0\uc11c <strong>\uc801\ubd84 \uc81c\uc5b4\uae30<\/strong>\ub97c \ucd94\uac00\ud558\ub294 \uacbd\uc6b0\uac00 \ub9ce\uc2b5\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc801\ubd84 \uc81c\uc5b4\uae30\ub294 steady-state\uc5d0\uc11c error\ub97c \ub204\uc801\ud558\uc5ec \uc774\ub97c \ubcf4\uc815\ud558\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \ud558\uc9c0\ub9cc \uc801\ubd84 \uc81c\uc5b4\uac00 \ud3ec\ud568\ub418\uc9c0 \uc54a\ub294 \uc0c1\ud0dc \uacf5\uac04 \uc124\uacc4\uc5d0\uc11c\ub294 error\ub97c \uc904\uc774\ub294 \uba54\ucee4\ub2c8\uc998\uc774 \ubd80\uc871\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\ud574\uacb0 \ubc29\uc548:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\uc801\ubd84 \uc81c\uc5b4\uae30 \ucd94\uac00<\/strong>: \uc801\ubd84 \ub3d9\uc791\uc744 \ud3ec\ud568\uc2dc\ucf1c error\ub97c \ub204\uc801\ud558\uace0 \uc774\ub97c \ubcf4\uc815\ud558\ub3c4\ub85d \uc124\uacc4\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\ucc38\uc870 \uc0c1\ud0dc \uc124\uacc4<\/strong>: \\( r \\)\uc758 steady-state \uac12\uc744 \ud3ec\ud568\ud558\uc5ec \uc0c1\ud0dc \uacf5\uac04 \ubaa8\ub378\uc744 \uc218\uc815\ud568\uc73c\ub85c\uc368, error\ub97c \ucd5c\uc18c\ud654\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\ud53c\ub4dc\ud3ec\uc6cc\ub4dc \uc81c\uc5b4<\/strong>: \uc801\uc808\ud55c feedforward term\uc744 \uc124\uacc4\ud558\uc5ec \ucc38\uc870 \uc785\ub825\uacfc \uc2dc\uc2a4\ud15c \ucd9c\ub825 \uac04\uc758 \ucc28\uc774\ub97c \uc9c1\uc811 \ubcf4\uc644\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<p>\uacb0\ub860\uc801\uc73c\ub85c, state space \uc124\uacc4\uc5d0\uc11c steady-state error\ub97c \uc81c\uac70\ud558\ub824\uba74 \ucc38\uc870 \uc785\ub825\uc744 \uace0\ub824\ud55c \ucd94\uac00\uc801\uc778 \uc124\uacc4 \uc694\uc18c\ub97c \ud3ec\ud568\ud574\uc57c \ud569\ub2c8\ub2e4. \ub354 \uad81\uae08\ud55c \uc810\uc774\ub098 \uad6c\uccb4\uc801\uc778 \uc0c1\ud669\uc774 \uc788\uc73c\uba74 \uc54c\ub824\uc8fc\uc138\uc694! ?<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tracking System &lt;&#8212;> Regulator System State space\uc5d0\uc11c steady-state error\uac00 0\uc774 \ub418\uc9c0 \uc54a\ub294 \uc774\uc720\ub294 \uc2dc\uc2a4\ud15c\uc758 \uad6c\uc870\uc801 \ud2b9\uc131\uacfc \uc81c\uc5b4 \uc124\uacc4 \ubc29\uc2dd\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1185],"tags":[1752],"class_list":["post-7962","post","type-post","status-publish","format-standard","hentry","category-1185","tag-tracking-system"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=7962"}],"version-history":[{"count":2,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962\/revisions"}],"predecessor-version":[{"id":7966,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962\/revisions\/7966"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=7962"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=7962"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=7962"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}